PX4 Dev Call: September 30, 2020

September 30, 2020

Agenda

  • Status update by component/project
  • Roadmap, and Release discussion
  • Community Q&A
  • In-Depth discussions

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Meeting ID: 946 175 205
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Component update

Hardware

@JingerZ: Board support guide is up! Outlines different support levels of autopilot boards depending on them being completely compliant to the standard, supported by the manufacturing company or contributors.

https://px4.io/ecosystem/compatible-hardware/board-support-guide/

The resulting autopilot support list is here: https://px4.io/autopilots/

Definition of quality acceptance criteria still has to be clarified by providing a reference to tests.

System Architecture

Before this there were different numbers of sensor supported for different types. Now it’s unified 4 maximum each. And a separate rotation per external sensor can be set by the user.

Per sensor rotation and offset that depends on a device ID and not the startup order. The instance of the sensor depends on slots that are available on the board and there needs to be a user interface showing

OS / NuttX

Issues were reported:

  • Memory constraints
  • Windows Cygwin toolchain compatibility
  • a lot of smaller issues @david_s5 is trying to solve as they are found

Networking configuration mechanism. We have to figure out how we want to enter the data like with parameters.

Driver

No updates

Commander

Estimation

WMM (world magnetic model) lookup improvement to have an earlier correct mag inclination lookup.

GPS blending that was introduced to EKF2 is moved to the general system sensors module. This was caught because

VTOL/Fixed Wing

Logic quite often flies directly through the loiter point which leads to the tangential velocity being far off when initially entering the loiter. We have to check with @Paul_Riseborough why these lines are there and if the change breaks anything.

Airspeed pre-flight check improvement got finalized. Review is welcome.
Question: Does it work if there’s no GPS.
Answer: Yes there should be no problem

Multicopter

Important bugfix contribution sign of velocity controller derivative:
We should have a look at using the estimators NED acceleration output as the derivative state for velocity control. Also we should add a position control status messages logging how much P, I and D contribute to the final controller output.

Avoidance

No updates

Simulation

Deprecated xacro model definitions are finally gone from the gazebo simulation:

MAVSDK

Release 0.31

MAVROS / DDS / ROS2

ROS World 2020

https://roscon.ros.org/world/2020/
90 minutes slot at convention, 3 different presentations, we’ll get ROS & PX4 developers closer.

UAVCAN

Yesterday there was the UAVCAN dev call (see https://www.dronecode.org/calendar/):

  • @PavelKirienko moving forward with DS-015 implementation e.g. ESC messages.

See meeting notes for more details:


Release

What’s the timeframe for the 1.12 release? We want a faster release cycle as we discussed.
We should build a team/group to help with the release. There are some good examples of other open-source projects for how to handle it such that not all the additional load falls on @dagar.

Community Q&A

Kalyan Siriam: Has a crash log: https://logs.px4.io/plot_app?log=1b25a08f-7254-4230-8f24-bfbdf044ed8a
and didn’t figure out why it crashed. It might be because it was overloaded with weight but Manual was flying fine. It was hard to pilot but worked. In position mode it crashed. Any log analysis and input would be welcome. Kal is available on slack and will create an issue to keep track.

@JingerZ : What do we do about Hacktoberfest https://hacktoberfest.digitalocean.com/?
We wanted to participate before but missed the deadlines to register before. We should participate. The idea is to bring in new contributors and celebrate the existing ones by focusing on contributions and reward them for one month. It’s open to all open-source projects. Let’s have a public meeting next week to get this started.


Errata and Feedback

Let me know below if we failed to capture anything the right way, and if there are any updates (not present here), or you have feedback you would like to share with the dev-team.